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datalink.h
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datalink.h
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/*
* Copyright (C) 2005 Pascal Brisset, Antoine Drouin
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/** \file datalink.h
* \brief Handling of messages coming from ground and other A/Cs
*
*/
#ifndef DATALINK_H
#define DATALINK_H
#ifdef DATALINK_C
#define EXTERN
#else
#define EXTERN extern
#endif
#include "std.h"
#include "pprzlink/dl_protocol.h"
/** Datalink kinds */
#define PPRZ 1
#define XBEE 2
#define SUPERBITRF 3
#define W5100 4
#define BLUEGIGA 5
/** Flag provided to control calls to ::dl_parse_msg. NOT used in this module*/
EXTERN bool dl_msg_available;
/** time in seconds since last datalink message was received */
EXTERN uint16_t datalink_time;
/** number of datalink/uplink messages received */
EXTERN uint16_t datalink_nb_msgs;
#define MSG_SIZE 256
EXTERN uint8_t dl_buffer[MSG_SIZE] __attribute__((aligned));
/** Should be called when chars are available in dl_buffer */
EXTERN void dl_parse_msg(struct link_device *dev, struct transport_tx *trans, uint8_t *buf);
/** Firmware specfic msg handler */
EXTERN void firmware_parse_msg(struct link_device *dev, struct transport_tx *trans, uint8_t *buf);
#if USE_NPS
EXTERN bool datalink_enabled;
#endif
/** Convenience macro to fill dl_buffer */
#define DatalinkFillDlBuffer(_buf, _len) { \
uint8_t _i = 0; \
for (_i = 0; _i < _len; _i++) { \
dl_buffer[_i] = _buf[_i]; \
} \
dl_msg_available = true; \
}
/** Check for new message and parse */
static inline void DlCheckAndParse(struct link_device *dev, struct transport_tx *trans, uint8_t *buf, bool *msg_available)
{
// make it possible to disable datalink in NPS sim
#if USE_NPS
if (!datalink_enabled) {
return;
}
#endif
if (*msg_available) {
datalink_time = 0;
datalink_nb_msgs++;
dl_parse_msg(dev, trans, buf);
*msg_available = false;
}
}
#endif /* DATALINK_H */